Coordinating movements of autonomous vehicles for user exit, loading, or unloading

Patent metadata

Field	Value
Publication number	US-10317912-B2
Application number	US-201816014622-A
Country	US
Kind code	B2
Filing date	Jun 21, 2018
Priority date	Feb 1, 2015
Publication date	Jun 11, 2019
Grant date	Jun 11, 2019

Abstract

A method including computing coordinated movements for a plurality of autonomous vehicles to provide access to a particular one of the autonomous vehicles, wherein each of the coordinated movements is computed to avoid movement of any one of the autonomous vehicles interfering with movement of any other one of the autonomous vehicles, and the requested access comprises one or more passengers entering into or exiting from the particular one of the autonomous vehicles, and causing the autonomous vehicles to execute autonomously the coordinated movements to provide the requested access. In addition, or alternatively, the requested access may comprise cargo being loaded into or unloaded from the particular one of the autonomous vehicles.

First claim

What is claimed is:

1. A method comprising:
computing, by a central computing device, coordinated movements for a plurality of autonomous vehicles to provide access to a particular one of the autonomous vehicles, wherein:
each of the coordinated movements is computed to avoid movement of any one of the autonomous vehicles interfering with movement of any other one of the autonomous vehicles;
at least one of the coordinated movements of the particular one of the autonomous vehicles is dependent on a fixed interval delay and is performed after movement by at least one of the other autonomous vehicles; and
the access comprises one or more passengers entering into or exiting from the particular one of the autonomous vehicles; and

causing, by the central computing device, the autonomous vehicles to execute autonomously the coordinated movements to provide the access.

2. The method of claim 1 , wherein the coordinated movements are to be executed autonomously by the plurality of autonomous vehicles in a time sequence.

3. The method of claim 1 , wherein:
the autonomous vehicles are arranged in an array that comprises a plurality of columns, wherein the particular autonomous vehicle is in a first one of the columns and blocked by one or more other autonomous vehicles in the first column;
computing the set of coordinated movements for the autonomous vehicles comprises:
selecting the first column and a second one of the columns in the array; and
determining, for each selected column, a first end of the column to be a front of the column and a second end of the column opposite the first end to be a back of the column; and

according to the set of coordinated movements, the autonomous vehicles blocking the particular autonomous vehicle in the first column are cyclically moved from the front of the first column to the back of the second column as autonomous vehicles in the second column are moved from the front of the second column to the back of the first column and the autonomous vehicles remaining in the first and second columns are moved forward until the particular autonomous vehicle reaches the front of the first column.

4. The method of claim 1 , wherein, in the set of coordinated movements:
the autonomous vehicles in the first and second columns all drive forward;
the autonomous vehicles in the first and second columns all drive backward; or
some of the autonomous vehicles in the first and second columns drive forward and other of the autonomous vehicles in the first and second columns drive backward.

5. The method of claim 1 , wherein:
the autonomous vehicles are arranged in an array that comprises a plurality of columns, wherein the particular autonomous vehicle is in a first one of the columns and blocked by one or more other autonomous vehicles in the first column and one or more other autonomous vehicles in a second one of the columns; and
according to the coordinated movements:
one or more of the autonomous vehicles in the column are moved longitudinally to move the column; and
the movement of each of the first and second columns collectively creates a temporary access aisle to provide the access to the particular autonomous vehicle.

6. The method of claim 5 , wherein one or more of the autonomous vehicles in the column are moved longitudinally to split the column, thereby creating a gap in the column for the temporary access aisle, with one or more of the autonomous vehicles in the column being on one side of the temporary access aisle and one or more other autonomous vehicles in the column being on another side of the temporary access aisle.

7. The method of claim 5 , wherein one or more of the autonomous vehicles in the column are moved longitudinally to shift the column, thereby creating a gap at an end of the column for the temporary access aisle, with all autonomous vehicles in the column being on a same side of temporary access aisle.

8. The method of claim 5 , wherein the temporary access aisle is:
perpendicular to one or more of the columns; or
diagonal with respect to one or more of the columns.

9. The method of claim 5 , wherein, in the coordinated movements:
the autonomous vehicles in the first and second columns all drive forward;
the autonomous vehicles in the first and second columns all drive backward; or
some of the autonomous vehicles in the first and second columns drive forward and other of the autonomous vehicles in the first and second columns drive backward.

10. The method of claim 1 , wherein a communication network wirelessly connects the autonomous vehicles to the central computing device.

11. The method of claim 10 , wherein the communication network:
communicates location information from one or more of the autonomous vehicles to the central computing device; or
communicates movement information based on the coordinated movements computed by the central computing device from the central computing device to one or more of the autonomous vehicles.

12. The method of claim 10 , wherein the communication network is unidirectional or bidirectional.

13. The method claim 10 , wherein the communication network is:
part of a vehicle-control network operating only in an area where the autonomous vehicles are located; or
part of a communication system operating in a larger area that encompasses the location of the autonomous vehicles.

14. A method comprising:
computing, by a central computing device, coordinated movements for a plurality of autonomous vehicles to provide access to a particular one of the autonomous vehicles, wherein:
each of the coordinated movements is computed to avoid movement of any one of the autonomous vehicles interfering with movement of any other one of the autonomous vehicles;
at least one of the coordinated movement of the particular one of the autonomous vehicles is dependent on a fixed interval delay and is performed after movement by at least one of the other autonomous vehicles; and
the access comprises cargo being loaded into or unloaded from the particular one of the autonomous vehicles; and

causing, by the central computing device, the autonomous vehicles in the selected to execute autonomously the set of coordinated movements to provide the access.

15. One or more computer-readable non-transitory storage media embodying software that is operable when executed to:
compute, by a central computing device, coordinated movements for a plurality of autonomous vehicles to provide access to a particular one of the autonomous vehicles, wherein:
each of the coordinated movements is computed to avoid movement of any one of the autonomous vehicles interfering with movement of any other one of the autonomous vehicles;
at least one of the coordinated movements of the particular one of the autonomous vehicles is dependent on a fixed interval delay and is performed after movement by at least one of the other autonomous vehicles; and
the access comprises one or more passengers entering into or exiting from the particular one of the autonomous vehicles; and

cause, by the central computing device, the autonomous vehicles to execute autonomously the coordinated movements to provide the access.

16. The media of claim 15 , wherein:
the autonomous vehicles are arranged in an array that comprises a plurality of columns, wherein the particular autonomous vehicle is in a first one of the columns and blocked by one or more other autonomous vehicles in the first column;
computing the set of coordinated movements for the autonomous vehicles comprises:
selecting the first column and a second one of the columns in the

Assignees

• Lyft Inc

Inventors

• Harvey Thomas Danaher

Classifications

• G08G1/20

  Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles · CPC title

• G08G1/22

  Platooning, i.e. convoy of communicating vehicles · CPC title

• E04H6/422

  Automatically operated car-parks · CPC title

• B60W30/06

  Automatic manoeuvring for parking · CPC title

• G08G1/168

  Driving aids for parking, e.g. acoustic or visual feedback on parking space · CPC title